/// <summary>
/// Transforms the bounding box into the space given by orientation and position.
/// </summary>
/// <param name="position"></param>
/// <param name="orientation"></param>
/// <param name="result"></param>
internal void InverseTransform(ref TSVector position, ref TSMatrix orientation)
{
TSVector.Subtract(ref max, ref position, out max);
TSVector.Subtract(ref min, ref position, out min);
TSVector center;
TSVector.Add(ref max, ref min, out center);
center.x *= FP.Half; center.y *= FP.Half; center.z *= FP.Half;
TSVector halfExtents;
TSVector.Subtract(ref max, ref min, out halfExtents);
halfExtents.x *= FP.Half; halfExtents.y *= FP.Half; halfExtents.z *= FP.Half;
TSVector.TransposedTransform(ref center, ref orientation, out center);
TSMatrix abs; TSMath.Absolute(ref orientation, out abs);
TSVector.TransposedTransform(ref halfExtents, ref abs, out halfExtents);
TSVector.Add(ref center, ref halfExtents, out max);
TSVector.Subtract(ref center, ref halfExtents, out min);
}
/// <summary>
/// Transforms the bounding box into the space given by orientation and position.
/// </summary>
/// <param name="position"></param>
/// <param name="orientation"></param>
/// <param name="result"></param>
internal void InverseTransform(TSVector position, TSMatrix orientation)
{
TSVector.Subtract(max, position, out max);
TSVector.Subtract(min, position, out min);
TSVector center;
TSVector.Add(max, min, out center);
center.x *= FP.Half; center.y *= FP.Half; center.z *= FP.Half;
TSVector halfExtents;
TSVector.Subtract(max, min, out halfExtents);
halfExtents.x *= FP.Half; halfExtents.y *= FP.Half; halfExtents.z *= FP.Half;
TSVector.TransposedTransform(center, orientation, out center);
TSMatrix abs; TSMath.Absolute(orientation, out abs);
TSVector.TransposedTransform(halfExtents, abs, out halfExtents);
TSVector.Add(center, halfExtents, out max);
TSVector.Subtract(center, halfExtents, out min);
}
